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公开(公告)号：US09783196B2
公开(公告)日：2017-10-10
申请号：US14796961
申请日：2015-07-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Youhei Masui , Minoru Nakadori
CPC classification number: B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W30/165 , B60W40/04 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/302 , B60W2550/308 , B60W2750/308 , G01S13/08 , G01S13/58 , G01S13/867 , G01S13/931 , G01S2013/9325 , G01S2013/9375 , G01S2013/9389 , G08G1/165 , G08G1/166
Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a vehicle carrying the apparatus behind a preceding vehicle. In the apparatus, an offset storage is configured to calculate an offset that is a difference between detected distances to first and second targets, and store the offset associated with the first target forward of the second target. The inter-vehicle distance control may be implemented based on a distance calculated by subtracting the offset from the detected distance to the first target. An offset updater is configured to determine whether or not a relative distance between the first and second targets has increased or decreased, and when the relative distance between the first and second targets has increased or decreased, update the offset stored by the offset storage.
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公开(公告)号：US20170270373A1
公开(公告)日：2017-09-21
申请号：US15506614
申请日：2015-08-24
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Youhei Masui , Toyoharu Katsukura
IPC: G06K9/00
CPC classification number: G06K9/00798 , B60R21/00 , B60T2201/085 , B60T2210/20 , B60T2210/24 , B60W30/12 , B60W2420/40 , G06T7/60
Abstract: A road shape recognition apparatus is mounted in a vehicle. The road shape recognition apparatus acquires a road image, determines a road shape using the road image, recognizes the road shape based on the road image within a predetermined recognition range, and estimates the road shape outside of the recognition range based on the road shape within the recognition range. The road shape recognition apparatus estimates the road shape outside of the recognition range and within a first distance as a curved line of which a curvature change rate is constant, and the road shape farther than the first distance as a curved line of which a curvature is constant.
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公开(公告)号：US10423161B2
公开(公告)日：2019-09-24
申请号：US15529914
申请日：2015-10-13
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Taku Sakima , Youhei Masui , Toyoharu Katsukura , Takeshi Nanami , Takashi Nishida
Abstract: A predicted course estimating apparatus for estimating a predicted course of the own vehicle, includes: a data acquiring means for acquiring turning data that indicates a turning direction of the own vehicle; a filtering means for removing a high-frequency component that is included in the turning data; a course predicting means for calculating an estimated value for course prediction of the own vehicle, based on the turning data that has been filtered and a speed of the own vehicle; a determining means for determining whether the own vehicle is traveling a part of a road where the shape changes; and a characteristics changing means for changing the extent of removing of the high-frequency component by the filtering means when it is determined that the own vehicle is traveling a part of the road where the shape changes.
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公开(公告)号：US10380424B2
公开(公告)日：2019-08-13
申请号：US15529925
申请日：2015-10-13
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Toyoharu Katsukura , Yoshihisa Ogata , Youhei Masui , Taku Sakima , Takeshi Nanami , Takashi Nishida
IPC: G01S7/40 , G01V3/12 , G01V8/00 , G06K9/00 , G06T7/12 , G08G1/16 , G01S13/86 , G01S13/93 , H04N5/243
Abstract: Provided is an object detection device (13) using a detection means (11) to transmit probe waves, receive reflected waves from an object (50) in a detection range, and acquire, as first detection information on the object, a position based on the reflected waves, to detect the object. The device includes an image information acquisition means, determination region setting means, and an object locating means. The image information acquisition means acquires, as second detection information on the object, a position based on an image of an area within the detection range, the image being captured by an image capturing means (12). The determination region setting means sets a determination region in the detection range. The object locating means locates the object, based on the first detection information, if pieces of the first and second detection information are present in the determination region.
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公开(公告)号：US10339393B2
公开(公告)日：2019-07-02
申请号：US15544840
申请日：2016-01-18
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Youhei Masui , Toyoharu Katsukura , Yoshihisa Ogata , Takeshi Nanami , Takashi Nishida
Abstract: A demarcation line recognition apparatus is applied to a vehicle in which an imaging apparatus that captures an image of an area ahead of the vehicle is mounted. The demarcation line recognition apparatus includes: a demarcation line recognizing unit that recognizes a traveling demarcation line that demarcates a traveling lane of the vehicle based on an image acquired by the imaging apparatus; and a demarcation line estimating unit that estimates a shape of the traveling demarcation line in a range that cannot be recognized by the demarcation line recognizing unit, based on the traveling demarcation line recognized by the demarcation line recognizing unit. The demarcation line recognition apparatus determines a reliability level of the traveling demarcation line recognized by the demarcation line recognizing unit and invalidates the estimation of the shape of the traveling demarcation line by the demarcation line estimating unit based on the determination result.
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Patent Agency Ranking
公开(公告)号：US10176387B2
公开(公告)日：2019-01-08
申请号：US15506614
申请日：2015-08-24
Applicant: DENSO CORPORATION
Inventor： Naoki Kawasaki , Youhei Masui , Toyoharu Katsukura
Abstract: A road shape recognition apparatus is mounted in a vehicle. The road shape recognition apparatus acquires a road image, determines a road shape using the road image, recognizes the road shape based on the road image within a predetermined recognition range, and estimates the road shape outside of the recognition range based on the road shape within the recognition range. The road shape recognition apparatus estimates the road shape outside of the recognition range and within a first distance as a curved line of which a curvature change rate is constant, and the road shape farther than the first distance as a curved line of which a curvature is constant.
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公开(公告)号：US09868441B2
公开(公告)日：2018-01-16
申请号：US14796887
申请日：2015-07-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Youhei Masui , Minoru Nakadori
CPC classification number: B60W30/16 , B60W2550/308 , G01S13/931 , G01S2013/9325
Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target that is a reflecting portion of the preceding vehicle. In the apparatus, a controller is configured to implement the inter-vehicle distance control based on an inter-vehicle distance between a rear end of the preceding vehicle and the subject vehicle acquired from the detected distance. A control switcher is configured to, when target information for identifying the rear end of the preceding vehicle becomes unacquirable during implementation of the inter-vehicle distance control, suspend the inter-vehicle distance control and make a switch to the direct operation by the driver.
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公开(公告)号：US09266534B2
公开(公告)日：2016-02-23
申请号：US14796912
申请日：2015-07-10
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Mitsuhiro Tokimasa , Youhei Masui , Minoru Nakadori
CPC classification number: B60W30/16 , B60W10/06 , B60W10/10 , B60W10/18 , B60W30/14 , B60W2420/52 , B60W2510/0604 , B60W2520/10 , B60W2540/04 , B60W2550/302 , B60W2550/308 , G01S13/931 , G01S2013/9325
Abstract: A vehicle control apparatus for implementing inter-vehicle distance control of a subject vehicle carrying the apparatus behind a preceding vehicle based on reflected waves from a target of the preceding vehicle. A target-pair distance is a distance between the target and a non-target reflection point that is closer to the subject vehicle than the target. A corrected distance calculator is configured to, in the presence of the target-pair distance being recognized, calculate a first corrected distance by subtracting the target-pair distance from a detected distance between the target and the subject vehicle, and in the absence of the target-pair distance being recognized, calculate a second corrected distance by subtracting an offset that is the previously set target-pair distance from the detected distance. A controller is configured to implement the inter-vehicle distance control based on the first or second corrected distance depending on the presence or absence of the target-pair distance being recognized.
Abstract translation: 一种车辆控制装置，用于基于来自前方车辆的目标的反射波，实现承载前方车辆后方的装置的车辆距离控制。 目标对距离是目标与目标之间比目标物体更接近目标车辆的非目标反射点之间的距离。 校正距离计算器被配置为在存在目标对距离被识别的情况下，通过从目标和目标车辆之间的检测距离减去目标对距离来计算第一校正距离，并且在没有 识别目标对距离，通过从检测到的距离减去作为先前设定的目标对距离的偏移来计算第二校正距离。 控制器被配置为根据所识别的目标对距离的存在或不存在，基于第一或第二校正距离来实现车辆间距离控制。
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公开(公告)号：US10471961B2
公开(公告)日：2019-11-12
申请号：US15544855
申请日：2016-01-20
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Youhei Masui , Toyoharu Katsukura , Yoshihisa Ogata , Yusuke Matsumoto , Takeshi Nanami , Takashi Nishida
Abstract: A cruise control device has a white line recognition unit recognizing a white line defining a lane having the own vehicle, based on an image captured by an image capturing device and a lane entering and leaving determination unit carrying out lane entering determination and lane leaving determination of the own vehicle with respect to a preceding vehicle traveling ahead of the own vehicle based on the relative position of the own vehicle in the vehicle width direction with respect to the white line. In the lane entering determination and lane leaving determination, a preceding vehicle on the lane to which the own vehicle is moving is determined to be an entering lane vehicle whose lane the own vehicle is entering, and a preceding vehicle on the lane from which the own vehicle is moving is determined to be a leaving lane vehicle whose lane the own vehicle is leaving.
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公开(公告)号：US10384681B2
公开(公告)日：2019-08-20
申请号：US15544856
申请日：2016-01-15
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Youhei Masui , Toyoharu Katsukura , Yoshihisa Ogata , Takeshi Nanami , Takashi Nishida
Abstract: A cruise control device 10 is applied to a vehicle in which an imaging device 21 is mounted. The cruise control device 10 includes: a white line recognition unit 11 which recognizes a white line 61 as a lane boundary that defines an own lane 63 that is a travel lane of an own vehicle 50, on the basis of images acquired by the imaging device 21; and a cutting-in/deviation determination unit 12 which performs cutting-in determination and deviation determination, in which the forward vehicle traveling on an adjacent lane 64 is determined to be a cutting-in vehicle that cuts into the own lane, and the forward vehicle traveling on the own lane is determined to be a deviating vehicle that deviates from the own lane on the basis of a relative position with respect to the white line in a vehicle width direction of a forward vehicle 51.
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